• Title/Summary/Keyword: velocity information

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Isotropic Configurations of Omnidirectional Mobile Robots with Three Caster Wheels

  • Kim, Sung-Bok;Lee, Jae-Young;Kim, Hyung-Gi
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.2066-2071
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    • 2003
  • In this paper, we identify the isotropic configurations of an omnidirectional mobile robot with three caster wheels, depending on the selection of actuated joints. First, We obtain the kinematic model of a caster wheeled omnidirectional mobile robot(COMR) without matrix inversion. For a given task velocity, the instantaneous motion of each wheel is decomposed into two orthogonal instantaneous motions of the steering and the rotating joints. Second, with the characteristic length introduced, we derive the isotropy conditions of a COMR having $n({\ge}3)$ actuated joints, which are imposed on two Jacobian matrices, $A{\in}R^{n{\times}3}$ and $B{\in}R^{6{\times}6}$. Under the condition of $B{\propto}I_6$, three caster wheels should have identical structure with the length of the steering link equal to the radius of the wheel. Third, depending on the selection of actuated joints, we derive the conditions for $A^t$ $A{\propto}I_3$ and identify the isotropic configurations of a COMR. All possible actuation sets with different number of actuated joints and different combination of rotating and steering joins are considered.

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Autonomous Tracking Control of Intelligent Vehicle using GPS Information (GPS 정보를 이용한 지능형 차량의 자율 경로추적 제어)

  • Chung, Byeung-Mook;Seok, Jin-Woo;Cho, Che-Seung;Lee, Jae-Won
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.10
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    • pp.58-66
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    • 2008
  • In the development of intelligent vehicles, path tracking of unmanned vehicle is a basis of autonomous driving and automatic navigation. It is very important to find the exact position of a vehicle for the path tracking, and it is possible to get the position information from GPS. However the information of GPS is not the current position but the past position because a vehicle is moving and GPS has a time delay. In this paper, therefore, the moving distance of a vehicle is estimated using a direction sensor and a velocity sensor to compensate the position error of GPS. In the steering control, optimal fuzzy rules for the path tracking can be found through the simulation of Simulink. Real driving experiments show the fuzzy rules are good for the steering control and the position error of GPS is well compensated by the proposed estimation method.

SPACE-BASED OCEAN SURVEILLANCE AND SUPPORT CAPABILITY

  • Yang Chan-Su
    • Proceedings of the KSRS Conference
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    • 2005.10a
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    • pp.253-256
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    • 2005
  • The use of satellite remote sensing in maritime safety and security can aid in the detection of illegal fishing activities and provide more efficient use of limited aircraft or patrol craft resources. In the area of vessel traffic monitoring for commercial vessels, Vessel Traffic Service (VTS) which use the ground-based radar system have some difficulties in detecting moving ships due to the limited detection range. A virtual vessel traffic control system is introduced to contribute to prevent a marine accident such as collision and stranding from happening. Existing VTS has its limit. The virtual vessel traffic control system consists of both data acquisition by satellite remote sensing and a simulation of traffic environment stress based on the satellite data, remotely sensed data. And it could be used to provide timely and detailed information about the marine safety, including the location, speed and direction of ships, and help us operate vessels safely and efficiently. If environmental stress values are simulated for the ship information derived from satellite data, proper actions can be taken to prevent accidents. Since optical sensor has a high spatial resolution, JERS satellite data are used to track ships and extract their information. We present an algorithm of automatic identification of ship size and velocity. This paper lastly introduce the field testing results of ship detection by RADARSAT SAR imagery, and propose a new approach for a Vessel Monitoring System(VMS), including VTS, and SAR combination service.

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Optical Flow Estimation of Large Displacements from Real Sequential Images

  • Kim, Jin-Woo
    • Journal of information and communication convergence engineering
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    • v.9 no.3
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    • pp.319-324
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    • 2011
  • In computing the optical flow. Horn and Schunck's method which is a representative algorithm is based on differentiation. But it is difficult to estimate the velocity for a large displacement by this algorithm. To cope with this problem multigrid method has been proposed. In this paper, we have proposed a scaled multigrid algorithm which the initial flow for a level is calculated by the summation of the optimally scaled flow and error flow. The optimally scaled flow is the scaled expanded flow of the previous level, which can generate an estimated second image having the least RMS error with respect to the original second image, and the error flow is the flow between the estimated second image (generated by the optimally scaled flow) and the original second image. The flow for this level is then estimated using the original first and second images and the initial flow for that level. From among the various coarsest starting levels of the multigrid algorithm, we select the one that finally gives the best estimated flow. Better results were achieved using our proposed method compared with Horn and Schunck's method and a conventional multigrid algorithm.

Development of 2.45GHz Microwave Identification System (2.45GHz 마이크로파 무선데이터 인식 시스템 개발)

  • 윤동기;박양하;김관호;이영철
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.24 no.7B
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    • pp.1342-1350
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    • 1999
  • In this paper, we have developed and analyzed the 2.45GHz microwave RFID system. Which is composed tag and interrogator using custom IC, and we have made the software driving the hardware for the bidirectional data transmission method. Using 3.6V power supply was used, the optimal identification range in the information transmission of the designed microwave RFID system operating at 9,600bps was l0m. In the control circuit of the tag, the low current consumption of 15$mutextrm{A}$ and the tag data transmission rate of 90% when the moving velocity was 80km/h.

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The study on the effect of the solar radiation on thermal comfort and ventilation performance in room space (태양일사가 실내공간의 열적 쾌적성과 환기성능에 미치는 영향에 관한 연구)

  • Yeon, Seong Hyeon;Lee, Hyo Joon;Rhee, Gwang Hoon
    • Journal of the Korean Society of Visualization
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    • v.14 no.1
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    • pp.19-26
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    • 2016
  • Modern people spend much time at indoor space. So, People want to make better indoor air condition. But the facade of building is made of glass to be seen urbanely, the effect of solar radiation makes indoor environment worse. This study designs an open space affected by solar radiation with 4-way cassette air-conditioner. Using numerical simulation, this paper investigates thermal comfort and ventilation performance with discharge angles $30^{\circ}$ and $45^{\circ}$. To study thermal comfort, this paper studies distribution of velocity, temperature and effective draft temperature. Also, this paper introduces concept of air age to study ventilation performance. The flow influenced by solar radiation determines thermal comfort and ventilation performance in room space. This study shows that discharge angle of 45 degree has better thermal comfort and ventilation performance than that of 30 degree.

The Influence of Authors' Centrality on Research Performance in a Large-Scale Collaborative Research Network (대규모 공동연구 네트워크에서 저자의 중심성이 연구성과에 미치는 영향)

  • Moon, Seonggu;Kim, Injai
    • Journal of Information Technology Services
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    • v.17 no.2
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    • pp.179-190
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    • 2018
  • This study is about the influence of authors' centrality on research outcomes in a large-scale collaborative research network. Using the social network analysis method, five types of centralities were derived. Six research outcomes of individual researchers were also derived through bibliographic information of the social science field for the last 10 years. A multivariate regression analysis was conducted to examine the causal relationship between the centrality and research outcome, and the effect of centrality on research outcomes was found to be statistically significant. The result of this study shows that the revised citation and H-index significantly influenced the authors' centrality. This result can imply that the centrality of the researcher can expect a considerable influence of the thesis as well as a certain level of productivity. The meaning of this study is to analyze the effect of centrality on the research outcomes of the large-scale collaborative research network in the past decade, and is carefully to suggest a guideline in order to support new research information services for active researchers and the advancement of collaborative research. This study has its limitation for interpreting the diverse academic fields of the social sciences in a uniform way. In future study, it is necessary to conduct studies using various weighted indices for network centrality in order to measure the influence of research.

Low Speed Wind Tunnel Testing to Measure Drag with Velocity Variation on a Cube Body

  • Rahmanto, R. Hengki;Choe, Gwang-Hwan;Go, Dong-Gyun
    • 한국태양에너지학회:학술대회논문집
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    • 2008.11a
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    • pp.96-102
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    • 2008
  • For centuries now, wind tunnels have been a key element in scientific research in a number of fields. Experimenting with racecars, airplanes, weather patterns, birds, and various other areas has been made much easier because of its development. In the racing field, for example, the information gathered from this testing can mean the difference between winning and losing a race. Weather simulations can also provide valuable information regarding building stability and safety. This has become very important when designing buildings today. Valuable information concerning bird flight has also been collected based on wind tunnel testing. Wind tunnels have a variety of important uses in the world today. Wind tunnel that used here is an open loop low speed wind tunnel. The fundamental principles of this tunnel is moving the air using exhaust fan In the rear side, and placing the cube in the external balance system which used to measure the working force. This experiment is using 50mm cube of finished wood. From this experiment we can get Drag Force (FD), The Reynolds Number (Re) and The Coefficient of Brae (CD).

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Design of Navigation Algorithm for Mobile Robot using Sensor fusion (센서 합성을 이용한 자율이동로봇의 주행 알고리즘 설계)

  • Kim Jung-Hoon;Kim young-Joong;Lim Myo-Teag
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.53 no.10
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    • pp.703-713
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    • 2004
  • This paper presents the new obstacle avoidance method that is composed of vision and sonar sensors, also a navigation algorithm is proposed. Sonar sensors provide poor information because the angular resolution of each sonar sensor is not exact. So they are not suitable to detect relative direction of obstacles. In addition, it is not easy to detect the obstacle by vision sensors because of an image disturbance. In This paper, the new obstacle direction measurement method that is composed of sonar sensors for exact distance information and vision sensors for abundance information. The modified splitting/merging algorithm is proposed, and it is robuster for an image disturbance than the edge detecting algorithm, and it is efficient for grouping of the obstacle. In order to verify our proposed algorithm, we compare the proposed algorithm with the edge detecting algorithm via experiments. The direction of obstacle and the relative distance are used for the inputs of the fuzzy controller. We design the angular velocity controllers for obstacle avoidance and for navigation to center in corridor, respectively. In order to verify stability and effectiveness of our proposed method, it is apply to a vision and sonar based mobile robot navigation system.

Analysis on High Concentration Air Pollution Cases in Gimhae Region Using the WRF Numerical Model (중규모 수치모델을 이용한 김해지역 고농도 대기오염 사례 분석)

  • Jung, Woo-Sik;Lee, Bo-Ram;Park, Jong-Kil;Do, Woo-Gon
    • Journal of Environmental Science International
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    • v.22 no.8
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    • pp.1029-1041
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    • 2013
  • In this study, eight episode days of high-concentration $PM_{10}$ occurrences in the Gimhae region between 2006 and 2011 were analyzed. Most of them appeared in winter and the highest concentration was observed around 12 LST. Furthermore, the wind direction, wind velocity, and temperature elements were compared with observed values to verify the WRF numerical simulation results used in this study, and they simulated well in accordance with the trend of the observed values. The wind was generally weak in the high-concentration episode days that were chosen through surface weather chart and the numerical simulation results for wind field, and the air pollutants were congested due to the effects of the resulting local winds, thereby causing a high concentration of air pollutants. Furthermore, the HYSPLIT model was performed with the WRF numerical simulation results as input data. As a result, they originated from China and flowed into Gimhae in all eight days, and the lowest concentration appeared on the days when recirculation occurred.